EP0351429A1 - Rotation speed regulator for heat engine - Google Patents

Abstract

Speed regulator for an internal combustion engine, in which a differential mechanism (4) is kinematically connected by its primary shaft (3) to a non-reversible electric motor (2), by its primary shaft (5) - to the internal combustion engine, and via its output shaft (8) - to a fuel metering member (9) of the heat engine (6). In a circuit (10) intended to regulate the speed of rotation of the electric motor, a counter (11) for measuring the speed of rotation of the shaft (3) is connected to the input (18) of a device ( 19) producing a regulation signal, the preset input of which (21) is connected to the output of a device (22) making it possible to produce the program for regulating the speed of rotation of the electric motor. In a circuit (27) for correcting the speed of rotation of the electric motor as a function of the speed of rotation of the heat engine, a counter (28) for measuring the speed of rotation of the primary shaft (5) is connected to a differentiation unit (35), the output of which is connected to the correction input (25) of the device (19). In a circuit (36) for controlling the position of the fuel metering member, sensors (12, 29) of the angular positions of the shafts (3, 5) are connected to the inputs (37, 38) of a device intended determining the angular misalignment of the shafts (3, 5), the output of which is connected to the control input (40) of the device (22), the information input (41) of which is connected to the counter (28).

Description

Technical field

The present invention relates to heat machines, in particular a speed controller of a heat machine.

State of the art

The most important parameters of the technical level of a machine unit with a heating machine are the reliability, the performance, the economy in fuel consumption, the quality of operations to be carried out by the machine unit, the smoke formation and toxicity of the exhaust gases in transitional states, the operational activity of the driver and the foot pedal force of the machine unit to attribute the adaptability of the heat machine to different types of fuel, high mountain conditions, low ambient temperatures and other parameters. The listed parameters depend to a significant extent on the static and dynamic characteristics of the speed controller of the heating machine.

In the existing heat machines, in particular in tractor and motor vehicle diesel engines, essentially mechanical speed regulators with a centrifugal (in rare cases pneumatic or hydraulic) sensors are used. In addition to guaranteeing high characteristic values with regard to the control quality of the speed of the heating machine, these controllers must form an external flow rate-speed control characteristic curve and flow rate-speed partial control characteristic curves with such a high accuracy that on the one hand the energetic possibilities of the heating machine would be used to the maximum and on the other hand the economy of the specific fuel consumption, the temperature, smoke formation and the toxicity of the exhaust gases and other characteristic values, the critical values are not reached, at which the characteristic values of the technical level of the machine units deteriorate.

To form the external flow rate-speed control characteristic curve and the flow rate-speed partial control characteristic curves, various types of correction devices and mechanisms are installed on the mechanical controllers. In order to increase the degree of automation in the control of the heating machine and the machine unit as a whole, these controllers are equipped with special electrical drive devices, including an electric reversing motor for setting a speed of the heating machine, with electromagnets for limiting and switching off the fuel delivery, and an electromagnetic device for enriching the fuel to be delivered when the heat engine starts, with an electro-hydraulic valve which is intended to overlap the fuel delivery in the fuel system for the emergency shutdown of the heat machine.

Also known are electrical speed controllers of a heating machine, which offer extensive possibilities for increasing the degree of automation in the control of the heating machine by means of a uniform one used in these speed controllers. have electrically driven actuating device by means of which the position of the fuel metering element of the heating machine is adjusted.

The form of the work program of the controller, the static, dynamic and functional properties belonging to it, depend on the intended use of the machine unit, the operating conditions of the machine unit, the type of load, the type of work to be carried out and a number of other factors that are related to one or the other , technological operations to be carried out by the machine unit.

A large group of electrical speed controllers for heating machines is known, which are constructed on the basis of an electric actuator for positioning with alternating armature movement direction and an actual electric drive which is associated with a Fuel metering element of the heating machine is kinematically coupled and electrically connected to a unit for comparing the actual speed of the heating machine with the target speed, a device for creating a control program for the heating machine, a former for generating a signal with which the electric drive is controlled.

With these regulators, the electric drive can be used as a torque motor or proportional magnet (symposium materials from R. Bosch, FRG, published on May 16, 1984 (Moscow); K. Zimmermann's report "State of the art of Bosch diesel equipment", see Fig. 17 and 22 ) or as a stepper motor (symposium materials from Friedmann-Meier, Austria, published on April 16, 1984 (Leningrad): F. Paschke's report "Development of the electronic controller", pp. 4 to 5, Fig. 17). In the following, the whole enumerated group of the electric positioning drives, whose armature direction of movement alternates during the regulation, are to be considered as electric motors

be designated.

With the above-mentioned electric regulators, the regulation process of the speed of the heating machine proceeds as follows. In a steady state, when the speed of the heating machine is equal to the target speed, no control signal appears at the output of the unit to compare these speeds. As a result, the motor armature and the fuel metering element connected to it are in equilibrium, which corresponds to the steady load of the heating machine. If the current speed of the heating machine deviates from the target speed, for example when the load changes, a signal proportional to the difference in the speeds to be compared appears at the output of the comparison unit, which signal is fed to the electric motor via the former to generate a signal intended for controlling the electric motor becomes. As a result, the fuel metering device is in brought such a new position, in which the running speed and the target speed of the heating machine become the same.

The controller with electrical positioning _b e-sit a low utilization efficiency of the power output. This is due to the fact that in the steady state of the heating machine, when the fuel metering device and the associated armature of the electric motor are at a standstill, the electric motor runs in a mode which is close to the braked state of its armature, which is characterized by a low efficiency. In addition, the variable-directional direction of the magnetic armature flux of the electric motor and the hysteresis associated with it when the armature is remagnetized necessitate the presence of a zone in which the latter is insensitive to the magnetic flux, which reduces the accuracy in controlling the position of the fuel metering element, which is why Characteristic values of the dynamic characteristic curves for regulating the speed of the heating machine (e.g. instability of the speed of the heating machine, over-regulation and transition time) as well as the static characteristic curves, i.e. the external flow rate-speed control characteristic curve and the flow rate-speed partial control curve characteristics of the heating machine, deteriorate.

Since the mode of operation of the controllers to be treated is based on the proportional control law, an external flow rate-speed control characteristic curve and flow rate-speed partial control characteristic curves are generated with a certain slope, in which a stable mode of operation of the heating machine is ensured in the entire range of speeds and loads. When the load on the heating machine changes, the speed of the heating machine changes accordingly. On the basis of the measured size of the speed deviation from the previous speed value, the size of the heat changes when changing from one load state of the heating machine to another machine applied load evaluated. By supplying the measured signal to the device for creating the control program of the heating machine, the external delivery rate-speed control characteristic curve and the delivery rate-speed partial control characteristic curves can be generated. Since there is a zone in the electric motor in which it is insensitive to the magnetic flux, the accuracy in the formation of the characteristics mentioned proves to be low.

To improve the accuracy of the formation to increase static and dynamic characteristics are such Reg _- ler provided with a channel for the position control of the Kraftstoffdosierrorgans. In this channel, the position of the fuel metering device is measured with the aid of an inductive position sensor (in general, capacitive, photoelectric and other position sensors can also be used), which is connected directly to the fuel metering device and connected via a converter to the device for creating the control program of the heating machine is. The control signal is thus generated according to a linear parameter, the measurement of which with the aid of the sensors of the type mentioned results in a low measurement accuracy as a result of a considerable measurement error. As a result, even the presence of the channel for the position control of the fuel metering device offers no possibility of forming an external speed control characteristic curve and speed partial control characteristic curves with the desired accuracy.

Also known is a speed controller of a heating machine (SU, A, 70d065), which has a differential mechanism, the first input shaft of which is kinematically connected to an electric motor rotating in one direction, the second input shaft of which is driven by the heating machine and the output shaft of which is kinematically coupled to the fuel metering element of the heating machine , a channel for the speed control of the electric motor, in which channel the tachometer of the first input shaft of the differential mechanism is connected to the input of the device for generating a control signal, the output of which is connected to the electric motor and the setpoint input of which is connected to the output of a device for generating the speed control program of the electric motor which has a setpoint input has, and a channel for the correction of the speed of the electric motor depending on the speed of the heating machine, wherein in the correction channel, the tachometer of the second input shaft of the differential mechanism is connected on the output side to the input of a differentiating unit, the output of which is connected to the correcting input of the device for generating the control signal for the speed control channel of the electric motor is connected.

In the controller in question, the input shafts of the differential mechanism are driven in opposite directions by the heating machine and the electric motor. If the speeds of the shafts are the same, the output shaft of the differential mechanism and the fuel metering element connected to it remain immobile. With a change in the load of the heating machine or when the predetermined speed of one of the input shafts changes, the output shaft rotates and shifts the fuel metering element into a position which corresponds to the new load or speed operation of the heating machine and in which the speeds of the input shafts become equal to one another. The presence of the differential mechanism in the controller to be considered makes it possible to use an electric motor in which the direction of rotation is not alternating but one-sided. The role of the main feedback in the controller is played by a mechanical gear from the heat machine shaft to the input shaft of the differential mechanism. The controller described shows not only the high reliability, the low energy consumption of the electric drive and the simple design, but also high dy Named control quality parameters of the speed of the heating machine. This is due to the fact that the speed of the heating machine with the described controller and the accuracy of maintaining the speed is determined by the target speed of the electric motor and by the accuracy of the stabilization of the latter in the speed control channel of the electric motor. In order to improve the control quality parameters of the heating machine in transition states, the tachometer of the second input shaft of the differential mechanism is connected to the correction input of the control signal generating unit via a differentiating unit.

The type of controller dealt with is based on the integral control law, so that it has advantages over the controllers described earlier. Since an electric motor with one-sided direction of rotation is used in this controller, no hysteresis occurs when the magnetic flux in the armature is directed in one direction. This avoids the insensitivity zone for the magnetic flux in the controller, which is observed in the controllers described earlier. Therefore, the dynamic characteristics of the controller discussed last have better control quality parameters for the speed of the heating machine. This type of controller has better static characteristic curves than the ones described above, because the outer flow rate-speed control characteristic curve and the flow rate-speed partial control characteristic curves, which are formed by this controller, have the zero steepness that is particularly required for the use of the heating machine as a component of such machine units. as they are diesel-electric units, agricultural tractors, harvesters and transport machines.

With the help of this controller, the zero steepness of the delivery rate-speed control characteristic curves of the heating machine is ensured, but there is no possibility of providing information about the load on the heating machine, which relates to the speed deviation of the latter, so that it becomes impossible to form the external control characteristic and the partial control characteristics according to a law which depends on the load on the heating machine.

The invention has for its object to provide a _D rehzahlreglereiner heat engine, wherein the generation is made a signal for the position control of the Kraftstoffdosierorgans for such a parameter indicating the formation of an outer flow-speed control characteristic curve and of flow-speed part of ruled lines of the Guaranteed heating machine according to a law that depends on the load on the heating machine.

The object is achieved in that the speed controller of a heating machine, the differential mechanism, the first input shaft of which is kinematically coupled to an electric motor with one-sided direction of rotation and the second input shaft of which is driven by the heating machine, the output shaft being kinematically coupled to the fuel metering element of the heating machine , A speed control channel of the _electric motor, in which the tachometer of the first input shaft of the differential mechanism is connected on the output side to the input of a device for generating a control signal, the output of which is connected to the electric motor and the setpoint input is located at the output of a device for creating the speed control program , which has an input for the input of a soli value signal, and contains a channel for speed correction of the electric motor depending on the speed of the heating machine, in which the tachometer of the second The input shaft of the differential mechanism is connected on the output side to the input of a differentiating unit, the output of which lies at the correction input of the device for generating a control signal for the speed control channel of the electric motor, according to the invention with a channel for the position control of the fuel metering element of the heat generator machine is provided, which has encoders for the angular positions of the first and second input shafts of the differential mechanism and a device connected on the input side to the outputs of these encoders for determining a coordinate deviation detuning between the angular positions of the first and second input shafts of the differential mechanism, the output of which the control input of the device for the preparation of the turning _a hlsteuerprogramms of the electric motor is placed, the output of the tachometer of the second input shaft is of the differential mechanism with the information input of the device for generating the speed control program of the electric motor in combination.

It is advantageous that the device for determining a coordinate misalignment between the angular positions of the first and second input shafts of the differential mechanism includes a unit for determining a temporal coordinate shift of the angular positions of the first and second input shafts of the differential mechanism and a computer, one of which has an input at the output of the unit Determination of a temporal coordinate shift lies between the angular positions of the first and second input shafts of the differential mechanism and the other inputs of which are connected to the outputs of the tachometers of the first and second input shafts of the differential mechanism.

It is advantageous that the computer of the speed controller contains a multiplier and a summator, the output of which is connected to one of the inputs of the multiplier. is.

It is useful that in the speed controller - in the execution of the encoder for the angular positions of the first and the second input shaft of the differential mechanism in the form of pulse generators for the angular position - the unit for determining a temporal coordinate shift of the angular positions of the first and second inputs Gear shaft of the differential mechanism contains a flip-flop and a clock pulse counter connected in series therewith.

The speed controller of the heating machine generates a control signal, by means of which the position of the fuel metering element is controlled after the coordinate detuning between the angular positions of the input shafts of the differential mechanism. Kinematic properties of the differential mechanism are such that when the coordinates of the angular positions of the input shafts of the latter change, the coordinate of the output shaft of the differential mechanism changes proportionally. Since the output shaft is kinematically coupled to the position of the Kzaftstoffdosierorgangs, the latter assumes an associated position. When regulating the speed of the heating machine, the fuel metering element assumes a position which corresponds to the load on the heating machine. Therefore, by measuring a coordinate misalignment between the angular positions of the input shafts from their output coordinate values, information about the load on the heating machine can be obtained.

By entering information about the load on the heating machine in the device for creating the speed control program of the electric motor, it is possible in the presence of information associated with the speed of the heating machine in this device to form an external speed control characteristic curve and partial speed control characteristic curves according to any law, i.e. practically with any slope, which makes the controller universal.

During the regulation of the rotation speed of the heating machine, the detuning amount of the coordinates of the angular positions of the input shafts of the differential mechanism is constantly changed. Therefore, in order to ensure an uninterrupted generation of the control signal for the position of the fuel metering device, the measurement of the coordinate detuning with each revolution of the input shaft of the Differential mechanism made. Within this cycle, the computer, which serves as a component of the device for determining a coordinate misalignment between the angular positions of the input shafts of the differential mechanism, adds the speeds of the input shafts of the differential mechanism in digital form and multiplies the result thus obtained by the temporal coordinate shift between the angular positions of the input shafts . As a result of the fact that the measurement is carried out within each revolution of the input shaft, that is to say that a high degree of discretion of the measurement is ensured, there is better accuracy in the generation of the outer speed control characteristic curve and the speed partial control characteristic curves.

The highest approximation of the mentioned control characteristic curves to the characteristic curves which are specified in the device belonging to the controller for creating the speed control program of the electric motor is ensured by the high accuracy of the measurement of the coordinates of the angular positions of the input shafts, because position pulse generators are used in them switches the clock pulse counter on and off when controlling the flip-flop belonging to the unit for the temporal coordinate shift, as a result of which an error which occurs when measuring the temporal shift of the coordinates is only fractions of a percent. This accuracy, together with a stability of the signal to be generated, which does not depend on the vibration level, the temperature, the humidity, electromagnetic interference and other factors, offers the possibility, using the invention, of the external flow rate control characteristic curve and the flow rate speed. To form partial control curves with high accuracy. As a result, better parameters of the machine unit, including increased dynamic control quality parameters of the speed of the heating machine, and improved parameters with regard to the Economical in fuel consumption, smoke formation and the toxicity of the exhaust gases from the heating machine achieved.

Brief description of the drawings

In the following, the invention will be explained in concrete embodiment with reference to

• Fig. 1 ein Funktionsschaltbild eines erfindungsgemäßen Drehzahlreglers einer Wärmemaschine;
• Fig. 2 Zeitdiagramme von Impulsen an den Ausgängen der Geber für die Winkellagen der Eingangswellen des Differentialmechanismus, der Taktimpulszähler, die zu den Drehzahlmessern der Eingangswellen des Differentialmechanismus gehören, und der Einheit zur Bestimmung einer zeitlichen Koordinatenverschiebung der Winkellagen der Eingangswellen des Differentialmechanismus;
• Fig. 3 Abhängigkeiten für die Koordinatenverstimmung der Winkellagen der Eingangswellen des Differentialmechanismus und für die Kraftstoffördermenge von der Drehzahl der Wärmemaschine, welche einer äußeren Fördermenge-Drahzahl-Regelkennlinie und Fördermenge-Drehzahl-Teilkennlinien entsprechen.

Drawings explained in more detail. It shows:

• 1 shows a functional circuit diagram of a speed controller according to the invention of a heating machine;
• 2 shows timing diagrams of pulses at the outputs of the sensors for the angular positions of the input shafts of the differential mechanism, the clock pulse counters belonging to the tachometers of the input shafts of the differential mechanism, and the unit for determining a temporal coordinate shift of the angular positions of the input shafts of the differential mechanism;
• Fig. 3 dependencies for the coordinate detuning of the angular positions of the input shafts of the differential mechanism and for the fuel delivery rate from the speed of the heating machine, which correspond to an external flow rate-wire number control characteristic and flow rate-speed characteristic curves.

Preferred embodiment of the invention

The speed controller 1 (FIG. 1) of a heating machine contains an electric motor 2 with one-sided direction of rotation, which is kinematically coupled to a first input shaft 3 of a differential mechanism 4. Another input shaft 5 of the differential mechanism 4 is driven by the heating machine 6, this shaft 5 being kinematically coupled to its shaft 7 in the embodiment in question. The output shaft 8 of the differential mechanism 4 is kinematically connected to a fuel metering element 9 of the heating machine 6. In the drawing, the kinematic couplings of the differential mechanism 4 are shown as toothed gears.

The controller 1 also contains a speed control channel 10 of the electric motor. At the input of the control channel 10, a tachometer 11 of the first input shaft of the differential mechanism is installed, in which a sensor 12 for the angular position of the first input shaft consists of an excitation element 13 and a generator 14, which supplies a pulse signal when interacting with the excitation element 13. The generator 14 is connected to the input of a flip-flop 15 with count control, which in turn is connected to the input of a clock pulse counter 16. The output of the clock pulse counter 16 is at the input of a converter 17 for converting clock pulses into an angular velocity of the first input shaft 3 of the differential mechanism. The output of the converter 17 is connected to the input 18 of a device 19 for generating a control signal. An input of a comparison unit 20 is used as input 1d, in which the speed of the electric motor is compared with the target speed. Another input of the comparison unit 20 serves as the setpoint input 21 of the device 19 for generating a control signal, via which the setpoint signal of the speed of the electric motor 2 is input. At the input 21 is the output of a device 22 for creating the speed control program of the electric motor, which has an input 23, via which a setpoint signal is entered. The output of the comparison unit 20 is connected to one of the inputs of a summer 24, the other input of which serves as a correction input 25 of the device 19 for generating a control signal. The summator 24 is connected to the input of a converter 26, the output of which, which also serves as the output of the device 19 and the control channel 10, is connected to the electric motor 2. Any converter that adapts the control circuit of the controller to the electric motor 2 and, for example, a converter can be used as the converter 26 Implementation of a digital signal in synchronization pulses can represent, through which a switching sequence of the windings of the electric motor 2 is set.

The controller 1 contains a channel 27 for the speed correction of the electric motor 2 depending on the speed of the heating machine, at the input of which a tachometer 28 of the second input shaft of the differential mechanism is arranged. A sensor 29 belonging to the tachometer 28 for the angular position of the second input shaft ⁵ consists of an excitation element 30 attached to the shaft 5 and a generator 31 which generates a pulse signal when interacting with the excitation element 30. The generator 31 is connected to the input of a flip-flop 32 with count control, which in turn is connected to the input of a clock pulse counter 33. The output of the clock pulse counter 33 is connected to the input of a converter 34 for converting clock pulses into an angular velocity of the second input shaft ^{5 of} the differential mechanism 4. The output of the converter 34 is connected to the input of a differentiating unit 35, the output of which, which / serves as the output of the channel 27 for speed correction, is connected to the correction input 25 of the device 19 for generating a control signal.

It is expedient to use as the encoder 12, 29 for the angular positions of the input shafts of the differential mechanism, magnetic-electrical and optical pulse angular position sensors, in which the excitation elements in the form of e.g. Magnets, discs with slots or projections are made, which are attached to the input shafts 3, 5 of the differential mechanism 4.

The controller 1 also contains a channel 36 for the position control of the fuel metering element 9 of the heating machine ^6, with sensors for the angular positions of the first and second input shafts 3 and 5 of the differential mechanism ⁴ being arranged at the input of this channel. In the to be acting embodiment of the controller 1, the sensors 12, 29 are used as sensors for the angular positions. The outputs of the transmitters 12, 29 are connected to the first input 37 and the second input 38 of a device 39 for determining a coordinate misalignment between the angular positions of the first and the second input shaft of the differential mechanism, the output of which also serves as the output of the control channel 36 , is connected to the control input 40 of the device 22 for creating the speed control program, the output of the speed meter 28 being connected to the information input 41 of the device 22.

In the embodiment of the speed controller to be treated, the first input of a comparison unit 42 serves as control input 40 and the second input of comparison unit 42 serves as information unit 41, to the third input of which a storage unit 43 is connected, in which a set of programs for generating an external delivery quantity Speed control characteristic curve and of flow rate-speed partial control characteristic curves is stored, each of these characteristic curves being assigned a setpoint signal which is set via input 23 of device 22 for creating the speed control program.

The device 39 for determining a coordinate detuning contains a unit 44 for determining a temporal coordinate shift between the angular positions of the first and second input shafts of the differential mechanism and a computer 45, the input 46 of which is connected to the output of the unit 44 and the inputs 47, 48 of which Output of the tachometer 11 and 28 of the first and second input shafts of the differential mechanism are connected.

When executing the encoder for the angular positions of the first and second input shafts 3 and 5 of the differential mechanism 4 in the form of pulse angular position encoders holds the unit 44 for determining a temporal coordinate shift a flip-flop 49 and a clock pulse counter 50 connected in series therewith.

The input into the clock pulse counters 16, 33 and 50 of the functional circuit diagram of the controller 1 shown in FIG. 1 takes place simultaneously from a common clock pulse generator or from own clock generators (not shown).

The electric motor 2 and the elements belonging to the channels 10, 27 and 36 are supplied in the usual way by connecting them to the on-board power supply source of the heating machine 6 or to an autonomous power supply source (not shown).

ermittelt, wobei

• ϕ eine Koordinatenverstimmung zwischen den Winkellagen der Wellen 3,5
• τ eine Zeitperiode für die Speicherung von Taktimpulsen im Zähler 50, die vom Umkippzeitpunkt des Flipflops 49 beim Eintreffen eines Impulses vom Geber 12 an dessen Eingang 37 bis zum Umkippzeitpunkt des Flipflops 49 beim Eintreffen eines Impulses vom Geber 29 an dessen Eingang 38 vergeht,

• ω3, ω₅ Winkelgeschwindigkeiten der Eingangswellen 3,5,
• k₁, k₂, k₃ Proportionalitätsfaktoren, die durch eine Anzahl von Erregungselementen 13,30 und durch ein Übersetzungsverhältnis der kinematischen Verbindungen zwischen den Ortslagen der Erregungselemente 13,30 und den Eingangswellen 3 bzw. 5 des Differentialmechanismus 4 bedingt sind, bedeuten.

In the circuit diagram of the controller 1 dealt with, information about the rotational speeds of the shafts 3, 5 of the differential mechanism 4 and a temporal coordinate shift between the angular positions of the shafts 3, 5 arrive on the computer 45. Accordingly, the coordinate detuning between the angular positions by adding the speeds of the input shafts 3.5 and multiplying the result thus obtained by the amount of the temporal coordinate shift according to the following formula

determined where

• ϕ a coordinate misalignment between the angular positions of the waves 3,5
• τ a time period for the storage of clock pulses in the counter 50, which elapses from the overturning time of the flip-flop 49 when a pulse from the encoder 12 arrives at its input 37 to the overturning time of the flip-flop 49 when a pulse from the encoder 29 arrives at its input 38,

• ω3, ω ₅ angular velocities of the input shafts 3,5,
• k ₁ , k ₂ , k ₃ proportionality factors which are caused by a number of excitation elements 13, 30 and by a transmission ratio of the kinematic connections between the locations of the excitation elements 13, 30 and the input shafts 3 and 5 of the differential mechanism 4, respectively.

In the controller to be treated, the excitation elements 13, 30 are attached to the shafts 3, 5 of the differential mechanism 4. If necessary, however, these elements can be attached at any other location that is located on the lines of the kinematic connections of the shafts 3 and 5 with the electric motor 2 or with the heating machine 6. In addition, to increase the measuring accuracy on the shafts 3, 5, it is not possible to attach one or more excitation elements. The values of the factors k ₁ , k ₂ , k _{3 are} determined by the transmission ratios of the kinematic connections and by the number of excitation elements which are attached to the input shafts 3, 5.

If k ₁ , k ₂ , k _{3 are} equal to 1, the formula (1) takes the following form:

In the case of the given values of the fastorenk, k ₂ , k ₃ , the computer 45 contains a multiplier / and a summer 52, the output of which is connected to one of the inputs of the multiplier 51 and the other inputs of which serve as inputs 47, 48 of the computer 45.

For a better understanding of the mode of operation of the controller 1, time diagrams of pulses at the outputs of the angular position transmitters 12, 29, the clock pulse counters 16, 33 and the unit 44 for determining a temporal coordinate shift ϕ are shown in FIG. 2, in which the time t after the abscissa axis and the pulse level is plotted along the ordinate axis.

• A Regelabschnitte der Kraftstofförderung, welche eine genaue Aufrecnterhaltung der Drehzahl der Wärmemaschine 6 in Grenzen der Betriebsarten der Belastung der letzteren gewährleisten,
• B Abschnitte für die Korrektur der Kraftstofförderung, welche Uberlastungszustände der Wärmemaschine 6 gewährleisten,
• C Abschnitte für die Begrenzung der kraftstofförderung, welche den Schutz der Wärmemaschine 6 vor überlastungen sichern,
• D Anlaßaoschnitt der Kraftstofförderung.

To better understand how an external flow-speed control characteristic and flow-speed part 3, dependencies en for the coordinate detuning ϕ between the angular positions of the input shafts 3, 5 of the differential mechanism 4 and for the delivery quantity q, which are plotted along the ordinate axis, from the speed n plotted along the abscissa axis, these being shown in FIG Dependencies of the external speed control characteristic curve and the speed partial control characteristic curves q (n) and ϕ (n) correspond. As agreed, these characteristics are divided into sections A, B, C, D, in which:

• A control sections of the fuel delivery, which ensure precise maintenance of the speed of the heating machine 6 within the limits of the operating modes of the load on the latter,
• B sections for the correction of the fuel delivery, which ensure overload conditions of the heating machine 6,
• C sections for limiting the fuel delivery, which protect the protection of the heating machine 6 against overloads,
• D Starting section of fuel delivery.

The index numbers (1, 2, 3, 4) of the cited sections correspond to four positions of the driving foot lever of the heating machine 6. To simplify the description of the mode of operation of the controller 1, the scales have been selected such that the speed control characteristics q (n) and ϕ ( n) coincide with each other.

The speed controller 1 (FIG. 1) of a heating machine works as follows. The input shaft 3 of the differential mechanism 4 is driven by the electric motor 2 at a predetermined speed, while the input shaft 5 is driven in the opposite direction by the shaft 7 of the heating machine 6. If the speeds of the input shafts 3 and 5 are the same, the output shaft 8 of the differential mechanism 4 and the fuel connected to it remain in the steady state dosing element 9 immobile. With increasing load on the heat machine 6, the speed of the shaft 5 decreases, as a result of which the output shaft 8 begins to rotate due to an occurring speed difference between the shafts 3 and 5, the shaft 8 adjusting the fuel metering element 9 in the sense of an increase in the delivery quantity. This leads to an increase in the speed of the shaft 7 of the heating machine 6 and the input shaft 5 to a value at which the speeds of the shafts 3, 5 become the same and the output shaft and the fuel metering element 9 come to rest. The transition process of the regulation is then ended and the heating machine continues to run in the steady state, which corresponds to the originally specified speed of the electric motor 2. The speed of the heating machine 6 is regulated in a similar manner when the load decreases. In this case, the fuel metering element 9 is adjusted in the sense of a reduction in the delivery rate. If the desired speed of the electric motor 2 is reduced, the equality of the speeds of the input shafts 3, 5 is violated, as a result of which the output shaft 8 and the fuel metering element 9 are adjusted in a direction reducing the fuel quantity until the speed of the shaft 5 connected to the heating machine 6 a new target speed of the shaft 3 driven by the electric motor 2 becomes the same. Similarly, the speed of the heat machine 6 is regulated when the target speed of the electric motor 2 is increased. In this case, the fuel metering element 3 is adjusted in the sense of an increase in the delivery quantity.

Since the shafts 3, 5 of the differential mechanism 4 are kinematically connected to the electric motor 2 or the heating machine 6, there is a ratio between their speeds which is the same as the transmission ratio between the shafts of the heating machine 6, the electric motor 2 and the differential mechanism 4. In the steady state, the speed of the heating machine 6 is thus proportional tional to the speed of the electric motor 2, and the regulation of the target speed of the heating machine 6 is ensured in that the control functions are performed by the electric motor 2.

A signal for controlling the speed of the electric motor 2 is generated in the control channel 10 as follows. A control signal specified by the operator is applied to input 23 of device 22, which serves to input a setpoint signal, for creating the speed control program of the electric motor. The speed control program is created in the device 22 depending on the information that reaches the input 23, the control input 40 and the information input 41. In general, the input 23 represents a set of inputs via which the several such signals as / position of the foot pedal (setpoint signal), ambient temperature, coolant oil and exhaust gas temperatures, boost pressure, air pressure, parameters of the power transmission, running speed of the machine unit, load disparity between the units working in parallel and other parameters can be introduced. A signal for the position control of the fuel metering element 9 of the heating machine 6 is fed to the control input 40 of the device 22, which relates to the coordinate misalignment between the angular positions of the input shafts 3, 5 of the differential mechanism 4. A signal reaches the information input 41 of the device 22 that is proportional to the speed of the heating machine 6.

Depending on the signal arriving at input 23, one or the other program for generating an external delivery rate-speed control characteristic curve and delivery rate-speed partial control characteristic curves is selected in the memory unit 43, according to which the heating machine 6 must operate. The signal corresponding to the selected control program is sent from the output of the storage unit 43 to the input of the comparison unit 42 given where its value is compared with the current values of the speed of rotation of the heating machine 6 and the size of the coordinate misalignment between the angular positions of the input shafts 3, 5 of the differential mechanism 4. On the basis of the comparison results, a signal is supplied which is assigned to the required position of the fuel metering element 9 and is fed from the output of the comparison unit 42 to the setpoint signal input 21 of the device 19 for generating a control signal, which also serves as the input of the comparison unit 20 of the device 19.

The speed of the input shaft 3 of the differential mechanism 4 is measured with the aid of the encoder 12 for the angular position of the input shaft, the generator 14 of which, when interacting with the excitation element 13, generates a pulse which arrives at the flip-flop 15. The flip-flop 15 switches on the clock pulse counter 16 after it has been brought into a stable working state. The storage of pulses in the counter 16 takes place until the excitation element 13 interacts with the generator 14 in which the flip-flop 15 assumes a new stable working state by which the counter 16 is switched on. The information about a number of pulses stored within the on period of the counter 16 is supplied to the converter 17 for converting clock pulses into an angular velocity of the first input shaft of the differential mechanism. From the output of the converter 17, which also serves as the output of the tachometer 11 of the first input shaft, the signal passes to the input 18 of the device 19, ie to the second input of the comparison unit 20. The signal arrives at the first input of the summator 24 from the comparison unit 20. where it is summed with a signal that the correction input 25 of the device 19 for generating a control signal, ie the second input of the summer 24, from the output of the Ka nals 27 for the speed correction of the electric motor depending on the speed of the heating machine is supplied.

The signal is formed in channel 27 as follows. First, the speed of the input shaft 5 of the differential mechanism 4 is measured. The speed of the input shaft 5 is measured in the embodiment of the controller 1 shown in FIG. 1 in the same way as that of the input shaft 3. When interacting with the excitation element 30, the generator 31 of the angular position sensor 29 supplies a pulse with which the flip-flop 32 is brought into the first stable working state. After the next response of the encoder 29, the flip-flop 32 is set to the second stable operating state, in which the clock pulse counter 33 is switched off. The period corresponding to a number of clock pulses stored in the clock pulse counter 33 is converted in the converter 34 into an angular velocity of the second input shaft 5. The signal of the differentiating unit 35, in which a correction signal is supplied, is fed from the output of the converter 34, which also serves as the output of the tachometer 26. From the output of the differentiating unit 35, which also serves as the output of the correction channel 27, the differentiated signal arrives at the correction input 25 of the device 19 for generating a control signal, i.e. at the second input of the summator 24.

From the output of the summator 24, a signal arrives at the input of the converter 26, at the output of which e.g. Synchronizing pulses are supplied, which are given to the electric motor 2.

The peculiarity of the mode of operation of the heating machine and of the entire machine assembly requires the formation of an external delivery rate-speed control characteristic curve and delivery rate-speed partial control characteristic curves in accordance with the given law, taking into account the peculiarities of technological operations be carried out by the machine unit. In order to improve the characteristic values of the technical status of the machine unit, the characteristic curves mentioned must be generated with high accuracy. For this purpose, the position of the fuel metering element 9 is to be controlled according to an associated law, depending on the selected speed of the heating machine 6 and on its load.

For this purpose, the controller 1 is provided with a channel 36 for the position control of the fuel metering unit of the heat engine, wherein the output of this channel ³ 6 a signal to the control input of the means 22 is fed to create the speed control program 40th In the channel 36, the signals picked up by the transmitters 12, 29 for the angular positions of the input shafts are fed to the inputs 37, 3 _{d of} the device 39 for determining a coordinate misalignment between the angular positions of the first and the second input shaft. The signal appearing at the output of the device 39 carries information about the position of the fuel metering element 9. This signal reaches the control input 40 of the device 22 for creating the speed control program, on the information input 41 of which information about the speed of the heating machine 6 is given. The coordinate detuning between the angular positions of the input shafts 3, 5 at a certain point in time requires a defined angle of rotation coordinate of the output shaft 8 and thus of the fuel metering element 9 coupled to it, the position of which in turn depends on the load on the heating machine 6.

The measurement of a signal associated with the coordinate misalignment between the angular positions of the input shafts 3, 5 of the differential mechanism 4 is carried out as follows. The pulse signals emitted by the angular position transmitters 12, 29 are fed via the inputs 37, 3d to the unit 44 for determining a temporal coordinate shift, ie a flip-flop 49. The from Encoder 12 arriving pulse i ₁ (FIG. 2) sets the flip-flop 49 (FIG. 1) in the first stable working state in which it is open and the clock pulses with a period T _i (FIG. 2) are entered in the counter 50 will. The flip-flop 49 (FIG. 1) is in such an open state until a new pulse i ₂ (FIG. 2) reaches it from the transmitter 29, through which the flip-flop 49 (FIG. 1) enters the second stable one Is brought state in which it is locked and no more clock pulses are supplied to the counter 50. When a next pulse i ₃ (FIG. 2) arrives from the transmitter 12 at the flip-flop 49, it is opened again, so that a next pulse series is stored in the counter 50 (FIG. 1) until a pulse i ₄ (FIG. 2 ) arrives from encoder 29. The number of clock pulses with a pulse duration T _i stored in the counter 50 (FIG. 1) characterizes an entire period τ (FIG. 2), which is determined by the mutual arrangement of the current coordinates of the excitation elements 13 (FIG. 1), 30 and the coordinate detuning between the angular positions of the rotating input shafts 3, 5 is conditioned. From the counter 50, ie from the output of the unit 44 for determining a temporal coordinate shift, a signal corresponding to the period τ is fed in digital form to the input 46 of the computer 45, to the inputs 47, 48 of which signals from the tachometers 11, 28 are given. The processing of the signals in the computer 45 is carried out according to the formula (2) mentioned above. The signals arriving at the inputs 47, 48 are first summed in the summer 52, whereupon a sum obtained in this way is passed to the multiplier 51 and multiplied by a signal which corresponds to the temporal coordinate shift between the angular positions of the input shafts 3, 5 and the input 46 of the computer 45, ie the input of the multiplier 51 is supplied.

The speeds of the input shafts 3, 5 are measured as follows. The pulse i ₁ (FIG. 2) from the encoder 12 arrives at the input of the flip-flop 15 (FIG. 1), whereupon it is brought into the first stable state in which the clock pulses with the period T _i arrive at the input of the counter 16 . The flip-flop 15 (FIG. 1) is in such a state until the next pulse i ₃ (FIG. 2) arrives at it from the transmitter 12, with which the flip-flop (FIG. 1) is set to the second stable state , in which it is locked and no more clock pulses reach counter 16. When the next pulse i ₅ (FIG. 2) arrives from the encoder 12, the counter 16 is opened again by the flip-flop 15 (FIG. 1), in which a next series of pulses are stored until the moment in which a pulse i ₆ (Fig. 2) arrives from the encoder 12. The number of in. Counter 16 (Fig. 1) stored clock pulses with, the pulse duration T _i (Fig. 2). An entire time period T ₁ between two successive pulses that have come from the encoder 12, and is determined by the angular velocity of the excitation element 13 (Fig. 1), which is attached to the first input shaft 3, and the input shaft 3 itself. From the output of the counter 16, the signal is transmitted in digital form to the input of the converter 17, a signal which is equal to 1 / T ₁ being formed at the output of the latter. As a result, a signal is generated at the output of the converter 17 and accordingly at the output of the tachometer 11, which signal is proportional to the speed of the first input shaft 3.

Similarly, with the aid of the excitation element 30, the generator 31, the flip-flop 32, the clock pulse counter 33 and the converter 34, the period T ₂ (FIG. 2) for the second input shaft 5 (FIG. 1) and the speed of the input shaft 5 measured.

From the output of the computer 45, that is, from the output of the multiplier 51, the processed signal is on given the control input 40 of the device 22 for creating the speed control program.

Now the generation of an external flow rate-speed control characteristic of the heating machine 6 should be considered using the example of a diesel engine corresponding to the first position of the travel foot lever (curve A _{1 '} B _1' C ₁ in FIG. 3). If the diesel engine on section A _{1 is operated} under a load in the range from idling to full load, the position of the fuel metering element 9 (FIG. 1) within an idle state is limited by the speed controller, which maintains a predetermined speed n ₁ corresponding delivery q _x (Fig. 3) adjusted to the delivery q _o corresponding to the full load. Since the coordinate detuning between the angular positions of the input shafts 3 (FIG. 1), 5 is caused by the position of the fuel metering element 9, it is accordingly set in the range from ϕx (FIG. 3) to ϕ ₀ . If the load on the diesel engine is higher than the nominal load, the delivery rate is higher than q ₀ and thus the coordinate misalignment between the angular positions of the input shafts 3, 5 (FIG. 1) is increased. As a result, the signal which the device 22 intervene directly from the output of the channel 36 for the position control of the Kraftstoffdosierorgans 9 at the control input 40 to generate the speed control program is changed, whereby the diesel engine to the section B ₁ passes (Fig. 3). With a further increase in the load on the diesel engine, at which the delivery rate reaches its maximum value, which is critical for the engine (point q _{k '} ϕ _k ), a signal is delivered at the output of the channel 36 (Fig. 1), which has a value corresponds in which the diesel engine passes to section C ₁ ( ^Fig . 3). When the diesel engine is operating on section C ₁ , the delivery rate is limited.

Similarly, flow rate-speed partial control curves with sections A ₂ , B ₂ , C ₂ for the second Position of the driving foot lever and with sections A _{3 '} B _3' C ₃ for the third position of the driving foot lever as well as a characteristic curve of minimal idling speeds with sections A ₄ , C ₄ for the fourth position of the driving foot lever and a starting characteristic curve with a section D.

Thus, the speed control of a heating machine according to the invention, which has high reliability, low energy consumption for the electric motor, a simple design and high dynamic control quality parameters of the speed of the heating machine, ensures high accuracy in the formation of the external flow rate control curve and the Flow rate-speed partial control curves are secured according to the specified law depending on the load. As a result, this controller acquires universal application options in practically all machine assemblies with heat machines. This is particularly important for diesel engine tractor sets, where the requirements for the accuracy of the formation of an external delivery rate-speed control characteristic curve and of delivery rate-speed partial control characteristic curves are very strict.

Industrial applicability

The invention can be used in energetic mechanical engineering for speed control in internal combustion engines, preferably in diesels for agricultural machine tractor sets, harvesting machines, motor vehicles, diesel-electric units, stationary systems, industrial tractors, road construction. and transport machines as well as for machine sets with other types of heating machines, e.g. with turbines, can be applied ..

Claims (4)

1. Speed controller of a heating machine, which has a differential mechanism (4), the first input shaft (3) of which is kinematically coupled to an electric motor (2), and the second input shaft (5) of which is driven by the heating machine (6), the output shaft ( 8) with a fuel metering element (9) of the heating machine (6) is kinematically connected, a speed control channel (10) of the electric motor, in which the tachometer (11) of the input shaft (3) of the differential mechanism (4) on the output side to the input (18) one Device (19) for generating a control signal is connected, the output of which is connected to the electric motor (2) and whose setpoint input (21) is at the output of a device (22) for creating the speed control programs of the electric motor, which has an input (23) for the Has input of a setpoint signal, and contains a channel (27) for the speed correction of the electric motor depending on the speed of the heating machine in which the tachometer (28) of the second input shaft (5) of the differential mechanism is connected on the output side to the input of a differentiating unit (35), the output of which is at the correction input (25) of the device (19) for generating a control signal for the speed control channel (10 ) of the electric motor, characterized in that it is provided with a channel (36) for position control of the fuel metering element (9) of the heating machine, which via sensors (12, 29) for the angular positions of the first and second input shafts of the differential mechanism and has a device (39) connected on the input side to the outputs of these encoders for determining a coordinate deviation between the angular positions of the first and second input shafts of the differential mechanism, the output of which at the control input (40) of the device (22) for creating the speed control program of the electric motor, the output of the tachometer (28) of the second input shaft of the differential mechanism being connected to the information input (41) of the device (22) for creating the speed control program of the electric motor. 2. Speed controller according to claim 1, characterized in that the device (39) for determining a coordinate deviation detuning between the angular positions of the first and second input shaft of the differential mechanism, a unit (44) for determining a temporal coordinate shift between the angular positions of the first and second input shaft of the differential mechanism and a computer (45), one input (46) of which is located at the output of the unit (44) for determining a temporal coordinate shift between the angular positions of the first and second input shafts of the differential mechanism, and the other inputs (47, 4ö) of which Outputs of the tachometer (11, 28) of the first and second input shafts of the differential mechanism are connected. 3. Speed controller according to claim 2, characterized in that the computer (45) contains a multiplier (51) and a summator (52), the output of which is connected to one of the inputs of the multiplier (51). 4. Speed controller according to claim 2 or 3, characterized in that - in the execution of the encoder (12, 29) for the angular positions of the first and second input shaft of the differential mechanism in the form of pulse angular position sensors - the unit (44) for determining a temporal Coordinate shift between the angular positions of the first and second input shaft of the differential mechanism contains a flip-flop (49) and a clock pulse counter (50) connected in series therewith.

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